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If the process contains a delay (dead time), the Nyquist criterion is well suited to derive a PI or PID tuning rule because the delay is taken into account without approximation. The tuning of the speed of the closed loop enters naturally by the crossover frequency. The goal of robustness and performance is translated into the phase margin.

The paper investigates an innovative actuator combination based on the magnetic shape memory technology. The actuator is composed of an electromagnet, which is activated to produce motion, and a magnetic shape memory element, which is used passively to yield multistability, i.e. the possibility of holding a position without input power. Based on the experimental open-loop frequency characterization of the actuator, a position controller is developed and tested in several experiments.